Abstract: According to one aspect, a method includes identifying, using a vehicle control system (VCS) of a vehicle, an issue associated with the vehicle. A criticality level of the issue is determined using the VCS, and the VCS determines at least one action to perform based on the criticality level. Determining the at least one action to perform includes determining whether to accept a first trajectory update generated by the trajectory generation system. The method also includes performing the at least one action, wherein performing the at least one action includes updating the trajectory using the first trajectory update when it is determined that the first trajectory update is be accepted, and wherein performing the at least one action further includes declining the first trajectory update when it is determined that the first trajectory update is not to be accepted.

Abstract: According to one aspect, an autonomous vehicle includes hardware systems which receive relatively low voltage from a low voltage power distribution unit (LVPDU). An LVPDU includes a power source such as a DC-DC converter and a plurality of backup batteries. The plurality of backup batteries is configured to provide backup power to subsets of components arranged to effectively all be powered by the power source onboard the LVPDU. The backup batteries may be tested, substantially while LVPDU is being used to provide power. The backup batteries may be charged substantially in parallel.